observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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50.817832946777344,
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[
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[
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[
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50.817832946777344,
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[
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[
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50.817832946777344,
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1.2713351249694824,
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[
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50.817832946777344,
50.46650695800781,
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3.0284578800201416,
1.2713351249694824,
1.608546257019043
] | 0 | pick box lid and place on box body | box lid | [
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[
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50.817832946777344,
50.46650695800781,
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3.0284578800201416,
1.2713351249694824,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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50.817832946777344,
50.46650695800781,
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3.0284578800201416,
1.2713351249694824,
1.608546257019043
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[
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] | 0 | pick box lid and place on box body | box lid | [
0.06982234120368958,
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] | 14.6 | 146 | 85 | 28,626 | 0 |
[
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] | 14.7 | 147 | 85 | 28,627 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.973378 | [
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] | 14.8 | 148 | 85 | 28,628 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.005587 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 14.9 | 149 | 85 | 28,629 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.006149 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 15 | 150 | 85 | 28,630 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.009812 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.1 | 151 | 85 | 28,631 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.017625 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 15.2 | 152 | 85 | 28,632 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.030342 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 15.3 | 153 | 85 | 28,633 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.04659 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 15.4 | 154 | 85 | 28,634 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.06787 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 15.5 | 155 | 85 | 28,635 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.093861 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 15.6 | 156 | 85 | 28,636 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.124065 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 15.7 | 157 | 85 | 28,637 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.157992 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 15.8 | 158 | 85 | 28,638 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.19538 | [
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23.828868865966797,
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0.26554903388023376,
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] | [
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0.16878154873847961,
0.19978883862495422,
2.924906015396118,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 15.9 | 159 | 85 | 28,639 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.235512 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.278231 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 16.1 | 161 | 85 | 28,641 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.322964 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 16.200001 | 162 | 85 | 28,642 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 16.299999 | 163 | 85 | 28,643 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 16.4 | 164 | 85 | 28,644 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.46537 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 16.5 | 165 | 85 | 28,645 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.514069 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 16.6 | 166 | 85 | 28,646 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.562599 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 16.700001 | 167 | 85 | 28,647 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.610479 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 16.799999 | 168 | 85 | 28,648 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.657294 | [
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23.828868865966797,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 16.9 | 169 | 85 | 28,649 | 0 |
[
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23.828868865966797,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 17 | 170 | 85 | 28,650 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.738895 | [
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23.828868865966797,
14.638042449951172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 17.1 | 171 | 85 | 28,651 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.76947 | [
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23.828868865966797,
14.638042449951172,
0.26554903388023376,
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] | [
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0.19978883862495422,
2.924906015396118,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 17.200001 | 172 | 85 | 28,652 | 0 |
[
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0.26101988554000854,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.796557 | [
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23.828868865966797,
14.638042449951172,
0.26554903388023376,
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] | [
0.3140687048435211,
0.16878154873847961,
0.19978883862495422,
2.924906015396118,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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0.3150123059749603,
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[
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0.3150123059749603,
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[
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0.3150123059749603,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.973961 | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 18.200001 | 182 | 85 | 28,662 | 0 |
[
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] | 18.299999 | 183 | 85 | 28,663 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.014198 | [
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0.3150123059749603,
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] | 18.4 | 184 | 85 | 28,664 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.018728 | [
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0.3150123059749603,
0.16870412230491638,
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] | 18.5 | 185 | 85 | 28,665 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.029323 | [
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0.3150123059749603,
0.16870412230491638,
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] | 18.6 | 186 | 85 | 28,666 | 0 |
[
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49.804161071777344,
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49.804161071777344,
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67.42587280273438,
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0.3150123059749603,
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49.804161071777344,
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67.42587280273438,
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[
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49.804161071777344,
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67.42587280273438,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.377737 | [
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49.804161071777344,
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0.3150123059749603,
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] | 19.700001 | 197 | 85 | 28,677 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.425226 | [
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49.804161071777344,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 19.799999 | 198 | 85 | 28,678 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.473451 | [
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49.804161071777344,
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67.42587280273438,
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0.3150123059749603,
0.16870412230491638,
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] | 19.9 | 199 | 85 | 28,679 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.521966 | [
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0.3150123059749603,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.570251 | [
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49.804161071777344,
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67.42587280273438,
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0.3150123059749603,
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] | 20.1 | 201 | 85 | 28,681 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.617968 | [
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49.804161071777344,
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67.42587280273438,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 20.200001 | 202 | 85 | 28,682 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.664661 | [
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49.804161071777344,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
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] | 20.299999 | 203 | 85 | 28,683 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.709886 | [
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49.804161071777344,
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67.42587280273438,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.4 | 204 | 85 | 28,684 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.750036 | [
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49.804161071777344,
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67.42587280273438,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.5 | 205 | 85 | 28,685 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.778719 | [
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49.804161071777344,
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67.42587280273438,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.6 | 206 | 85 | 28,686 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.805917 | [
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49.804161071777344,
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67.42587280273438,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.700001 | 207 | 85 | 28,687 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.831227 | [
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49.804161071777344,
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67.42587280273438,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.799999 | 208 | 85 | 28,688 | 0 |
[
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0.0005300799966789782,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.855598 | [
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49.804161071777344,
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67.42587280273438,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 20.9 | 209 | 85 | 28,689 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.877889 | [
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49.804161071777344,
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67.42587280273438,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 21 | 210 | 85 | 28,690 | 0 |
[
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1.0803385972976685,
0.0005300799966789782,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.897972 | [
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49.804161071777344,
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67.42587280273438,
0.04129711538553238,
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] | [
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3.1229662895202637,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 21.1 | 211 | 85 | 28,691 | 0 |
[
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1.1045762300491333,
0.0005300799966789782,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.918365 | [
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49.804161071777344,
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67.42587280273438,
0.04129711538553238,
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] | [
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0.007046376820653677,
3.1229662895202637,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 21.200001 | 212 | 85 | 28,692 | 0 |
[
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1.114884376525879,
0.0005300799966789782,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.936547 | [
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49.804161071777344,
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67.42587280273438,
0.04129711538553238,
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] | [
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3.1229662895202637,
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] | 21.299999 | 213 | 85 | 28,693 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.945592 | [
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0.3150123059749603,
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] | 21.4 | 214 | 85 | 28,694 | 0 |
[
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1.114884376525879,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.947579 | [
-36.92078399658203,
49.804161071777344,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
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] | 21.5 | 215 | 85 | 28,695 | 0 |
[
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1.114884376525879,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.948051 | [
-36.92078399658203,
49.804161071777344,
-37.348670959472656,
67.42587280273438,
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3.1229662895202637,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
0.013000023551285267
] | 21.6 | 216 | 85 | 28,696 | 0 |
[
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] | [
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] | [
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0.8624470829963684,
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1.114884376525879,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.948052 | [
-36.92078399658203,
49.804161071777344,
-37.348670959472656,
67.42587280273438,
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3.1229662895202637,
0.3687264025211334,
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] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
0.013000023551285267
] | 21.700001 | 217 | 85 | 28,697 | 0 |
[
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45.82703399658203,
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0
] | [
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] | [
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0.8624470829963684,
-0.7950241565704346,
1.114884376525879,
0.0005300799966789782,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.947949 | [
-36.92078399658203,
49.804161071777344,
-37.348670959472656,
67.42587280273438,
0.04129711538553238,
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] | [
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0.15020084381103516,
0.007046376820653677,
3.1229662895202637,
0.3687264025211334,
-2.642782688140869
] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
0.013000023551285267
] | 21.799999 | 218 | 85 | 28,698 | 0 |
[
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0
] | [
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67.42587280273438,
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] | [
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] | [
-0.5504263639450073,
0.8624470829963684,
-0.7950241565704346,
1.114884376525879,
0.0005300799966789782,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.947848 | [
-36.92078399658203,
49.804161071777344,
-37.348670959472656,
67.42587280273438,
0.04129711538553238,
0
] | [
0.32180270552635193,
0.15020084381103516,
0.007046376820653677,
3.1229662895202637,
0.3687264025211334,
-2.642782688140869
] | 0 | pick box lid and place on box body | box body | [
0.3150123059749603,
0.16870412230491638,
0.013000023551285267
] | 21.9 | 219 | 85 | 28,699 | 0 |
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